EP1828540B1 - Instrument de controle a orientation gyroscopique - Google Patents

Instrument de controle a orientation gyroscopique Download PDF

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Publication number
EP1828540B1
EP1828540B1 EP05797147A EP05797147A EP1828540B1 EP 1828540 B1 EP1828540 B1 EP 1828540B1 EP 05797147 A EP05797147 A EP 05797147A EP 05797147 A EP05797147 A EP 05797147A EP 1828540 B1 EP1828540 B1 EP 1828540B1
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EP
European Patent Office
Prior art keywords
axes
gyroscopes
accelerometers
housing
axis
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Application number
EP05797147A
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German (de)
English (en)
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EP1828540A1 (fr
EP1828540A4 (fr
Inventor
Erik Blake
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Icefield Tools Corp
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Icefield Tools Corp
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Publication of EP1828540A4 publication Critical patent/EP1828540A4/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/40—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging
    • G01V1/44—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging using generators and receivers in the same well
    • G01V1/46—Data acquisition

Definitions

  • the present invention relates to a survey tool that uses gyroscopes to provide azimuth orientation.
  • borehole survey instruments are run through the hole. Measurements of dip (or inclination) and azimuth can be made at intervals along the borehole and the results interpolated to derive the trajectory. Sometimes the measurements are made while moving the instrument along the borehole; sometimes the measurements are made at discrete stationary intervals.
  • Sensing inclination is relatively straightforward. There is considerable prior art related to accelerometers and tiltmeters that can be used to determine the inclination of the instrument axis with the gravitational vertical. Sensing azimuth is more difficult. There are three methods of doing this: (1) using a sensor referenced to an inertial frame of reference (i.e., a gyroscope), (2) using the Earth's magnetic field (i.e., a magnetometer or compass), or (3) integrating changes in curvature of the borehole from an initial surface orientation.
  • a sensor referenced to an inertial frame of reference i.e., a gyroscope
  • the Earth's magnetic field i.e., a magnetometer or compass
  • Instruments using the Earth's magnetic field are of relatively simple construction and are therefore the least expensive. Unfortunately, magnetic fields generated by the drilling equipment and/or nearby mineralization can distort the local magnetic field, and hence the reported azimuth. Instruments with three-component magnetometers (e.g., a fluxgate magnetometer) are able to give some diagnostic information such as magnetic field strength and magnetic dip. These diagnostic parameters should be constant for a given geographical location and any significant variation can be taken as an indication that the reported azimuth is less reliable. Additionally, magnetically-oriented survey instruments do not operate well at high geomagnetic latitudes because the Earth's magnetic field is near-vertical.
  • Integration-type instruments are typically run inside the drill rods. A snug fit between the instrument and the rods ensures that the instrument takes on the same curvature as the rods. As the instrument is run through the rods, the twists and turns of the rods are added up to obtain the borehole trajectory. Unfortunately, measurement errors accumulate and the error of these instruments increases with hole depth.
  • a gyroscopically-oriented survey tool which includes a housing having an axis.
  • Three accelerometers are mounted in the housing with their axes set orthogonally. A first of the axes is aligned to the axis of the housing. A second of the axes is perpendicular to the first. A third of the axes is perpendicular to both of the first and the second.
  • Three gyroscopes are mounted pseudo-orthogonally in the housing with their axes set at relative angles of other than 90 degrees. None of the axes of the gyroscopes are mounted parallel to the axes of the accelerometers.
  • a gyroscopically-oriented borehole survey tool constructed in accordance with the teachings of the present invention enables an operator to use data from the accelerometers to check on the quality of data from the gyroscopes and alerts the operator to the presence of factors which might otherwise distort gyroscope data.
  • the instrument consists of the following modules: (1) a battery supply, (2) a microprocessor module, (3) an accelerometer module, (4) a gyroscope module, and optionally (5) a magnetometer module. All these elements are housed in a cylindrical pressure vessel or housing (6).
  • the pressure vessel can be opened to change or charge the batteries and to allow connection of a communications cable if a wireless communications link is not provided.
  • the battery (1) could consist of primary (non-rechargeable) or secondary (chargeable) batteries. Battery chemistry is not critical, although environmental considerations (e.g., high ambient temperature) would favour lithium-type batteries.
  • the microprocessor (2) is responsible for a number of tasks:
  • the accelerometer module (3) contains three accelerometers with their sensitive axes (3a, 3b, 3c) mounted orthogonally.
  • the sensors may be of any type of accelerometer (e.g., Micro-electrical-mechanical system (MEMS), force balance, etc.) Since the data from the accelerometers is used to derive the local gravitational vertical, their sensitivity should, at a minimum, range from -lg to +lg.
  • MEMS Micro-electrical-mechanical system
  • the accelerometers are mounted such that one axis of sensitivity (3a) is aligned with the axis of the tool, the second axis (3b) is perpendicular to the first and is aligned with an external mark on the instrument (not shown), and the third axis (3c) is perpendicular to them both:
  • the gyroscope module (4) consists of three gyroscopes mounted with their sensitive axes (4a, 4b, 4c) pseudo-orthogonal. These sensors record the angular velocity in an inertial frame of reference about the sensitive axis.
  • pseudo-orthogonal we mean that the three axes are intentionally set at relative angles other than 90°.
  • the three positive axes may be mounted at 100° relative to one another.
  • the sensitive axes of the gyroscopes are mounted such that none of them are parallel to the axes of sensitivity of the accelerometers.
  • the gyroscope module provides continuous data (either analogue or digital) signals for each of the three axes.
  • the optional magnetometer module (5) consists of three mutually-orthogonal magnetic field or flux sensors. These could consist of fluxgate sensors, giant magnetoresistive (GMR) sensors, or other types of sensors.
  • the sensitive axes (5a, 5b, 5c) of the magnetometer may be aligned with those of the accelerometers.
  • Data from the accelerometers and magnetometers may be used to determine the orientation of the instrument in space when magnetic interference is not significant.
  • the magnetometers may also be used to corroborate the azimuth obtained by gyroscope data.
  • This instrument can be run independently (i.e., powered by batteries and not connected to the surface with a power or communications cable) or with real-time data telemetry to the surface through a cable which may also supply power. It is run through the length of a borehole (either in a clear hole, or inside the drilling rods) and is stopped at intervals to allow the system to take readings from the accelerometers with no movement-induced acceleration.
  • the depth (distance along the borehole) is recorded on a portable computer which is time-synchronized with the instrument.
  • a portable computer which is time-synchronized with the instrument.
  • accelerometers and magnetometers, if present
  • intervals for example every 5 seconds
  • Integrated angular velocity information from the gyroscopes is also recorded at the same intervals.
  • the attitude of the instrument Before and/or after running a survey, the attitude of the instrument must be measured.
  • the tilt of the instrument can be obtained from the accelerometers and the azimuth from the magnetometer (if present) or other survey methods. If all the sensors and data acquisition was error- and drift-free, then these data could be used to reliably determine the trajectory of the borehole. Unfortunately, this is not the case - there are temperature affects, sensor error and drift, digitization errors, etc. Additionally, shock loading and/or excessive rotation speed can cause the output from the gyros to clip (reach their dynamic limit and cease to accurately represent the input signal).
  • the stationary reading can be used to recalibrate the zero or null value of the gyroscopes (with the rotation of the Earth superimposed).
  • Data from the accelerometers can be used to correct for changes in scaling factor in the gyroscopes. This can be done by comparing the real change in tilt of one or more accelerometer axes (as measured at successive stationary positions) with the calculated change obtained by integrating the gyroscope output. By mounting the sensitive axes of the gyroscopes and accelerometers at angles to one another, we ensure that pure rotation about any accelerometer or gyroscope axis will register on more than one of the other sensor type.
  • a data quality parameter can be obtained by examining the changes in scale factor (which may represent excessive rotation or shock loading). We can also assess the degree to which the various sensors are interacting. For example, the worst-case scenario is when a gyroscope axis is vertical because the cross-axis sensitivity with the other two gyroscopes and the three accelerometers is at a minimum Measures of this nature can be used to assess the quality of the survey data.

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  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Engineering & Computer Science (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Geophysics (AREA)
  • Fluid Mechanics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Acoustics & Sound (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

L’invention concerne un instrument de contrôle à orientation gyroscopique, comportant un boîtier doté d’un axe. Trois accéléromètres sont montés dans le boîtier de façon à ce que leurs axes soient orthogonaux. Un premier axe parmi les axes est aligné sur l’axe du boîtier. Un deuxième axe parmi les axes est perpendiculaire au premier axe. Un troisième axe parmi les axes est perpendiculaire aux premier et deuxième axes. Trois gyroscopes sont montés de façon pseudo-orthogonale dans le boîtier de façon à ce que leurs axes forment des angles relatifs autres que 90 degrés. Aucun des axes des gyroscopes n’est parallèle aux axes des accéléromètres. Cette configuration permet d’utiliser des données fournies par les accéléromètres pour vérifier la qualité des données fournies par les gyroscopes.

Claims (10)

  1. Appareil destiné à déterminer une orientation spatiale d'un outil de sondage orienté gyroscopiquement, l'appareil comprenant :
    un boîtier ayant un axe ;
    trois accéléromètres montés dans le boîtier, les accéléromètres ayant des axes sensibles respectifs réglés perpendiculairement, un premier des axes étant aligné par rapport à l'axe du boîtier, un deuxième des axes étant perpendiculaire au premier, et un troisième des axes étant perpendiculaire à la fois aux premiers axes et aux deuxièmes axes ;
    trois gyroscopes montés pseudo-perpendiculairement dans le boîtier, les gyroscopes ayant des axes sensibles respectifs réglés à des angles relatifs autres que 90 degrés, aucun des axes des gyroscopes n'étant monté parallèlement aux axes des accéléromètres, un tel agencement garantissant que toute rotation de l'appareil affectera au moins deux gyroscopes, et un tel agencement garantissant que toute rotation du boîtier autour de tout axe de gyroscope non vertical affectera au moins un accéléromètre ;
    des moyens destinés à utiliser des données de confirmation provenant des accéléromètres pour corriger des facteurs de décalage des gyroscopes ;
    des moyens destinés à utiliser les données de confirmation provenant des accéléromètres pour corriger des facteurs d'échelle de ceux des gyroscopes qui ont un axe sensible non vertical ; et
    des moyens destinés à corriger le facteur d'échelle de l'un des gyroscopes qui a un axe vertical sensible en utilisant des données provenant de gyroscopes non verticaux dont les facteurs d'échelle ont été corrigés.
  2. Appareil selon la revendication 1, dans lequel des moyens sont prévus pour enregistrer et/ou intégrer des données provenant des accéléromètres et des données provenant des gyroscopes.
  3. Appareil selon la revendication 1, dans lequel il est en outre prévu trois capteurs de champ magnétique ou capteurs de flux magnétique montés dans le boîtier, les capteurs magnétiques ayant des axes sensibles respectifs réglés perpendiculairement pour qu'ils servent de magnétomètre.
  4. Appareil selon la revendication 3, dans lequel les axes sensibles respectifs du magnétomètre sont alignés avec les axes sensibles respectifs des accéléromètres.
  5. Appareil selon la revendication 3, dans lequel des moyens sont prévus pour calculer l'azimut de l'appareil en utilisant des données d'accéléromètres et de magnétomètres et en utilisant cet azimut de l'appareil pour corriger le décalage du gyroscope et les facteurs d'échelle.
  6. Appareil selon la revendication 1, dans lequel des moyens sont prévus pour déterminer la qualité de l'orientation spatiale déterminée de l'outil de sondage en évaluant le degré selon lequel le décalage du gyroscope et les facteurs d'échelle sont contraints.
  7. Procédé de détermination de l'orientation spatiale d'un outil de sondage orienté gyroscopiquement, l'appareil comprenant un boîtier ayant un axe ; trois accéléromètres montés dans le boîtier, l'accéléromètre ayant des axes sensibles respectifs réglés perpendiculairement, un premier des axes étant aligné par rapport à l'axe du boîtier, un deuxième des axes étant perpendiculaire au premier, et un troisième des axes étant perpendiculaire à la fois aux premiers axes et aux deuxièmes axes ; et trois gyroscopes montés pseudo-perpendiculairement dans le boîtier, les gyroscopes ayant des axes sensibles respectifs réglés à des angles relatifs autres que 90 degrés, aucun des axes des gyroscopes n'étant monté parallèlement aux axes sensibles des accéléromètres, un tel agencement garantissant que toute rotation du boîtier affectera au moins deux gyroscopes, et un tel agencement garantissant que toute rotation du boîtier autour de tout axe de gyroscope non vertical affectera au moins un accéléromètre ;
    le procédé comprenant les étapes consistant à :
    utiliser des données de confirmation provenant des accéléromètres afin de corriger des facteurs de décalage des gyroscopes ;
    utiliser des données de confirmation provenant des accéléromètres afin de corriger des facteurs d'échelle de ceux des gyroscopes qui ont un axe sensible non vertical ; et
    utiliser des données provenant des gyroscopes dont les facteurs d'échelle ont été corrigés afin de corriger le facteur d'échelle de l'un des gyroscopes qui a un axe sensible vertical.
  8. Procédé selon la revendication 7, dans lequel l'outil de sondage orienté gyroscopiquement comprend trois capteurs de champ magnétique ou capteurs de flux magnétique montés dans le boîtier, le capteur magnétique ayant des axes sensibles respectifs réglés perpendiculairement pour qu'il serve de magnétomètre et comprenant une étape consistant à calculer un azimut de l'appareil en utilisant des données de l'accéléromètre et du magnétomètre et en utilisant cet azimut de l'appareil pour corriger le décalage du gyroscope et les facteurs d'échelle.
  9. Procédé selon la revendication 8, dans lequel les axes sensibles respectifs du magnétomètre sont alignés avec les axes sensibles respectifs des accéléromètres.
  10. Procédé selon la revendication 7, comprenant une étape de détermination d'une qualité de l'orientation déterminée de l'appareil en évaluant le degré selon lequel le décalage du gyroscope et les facteurs d'échelle sont contraints.
EP05797147A 2004-12-13 2005-10-13 Instrument de controle a orientation gyroscopique Active EP1828540B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA2492623A CA2492623C (fr) 2004-12-13 2004-12-13 Outil de leve a orientation gyroscopique
PCT/CA2005/001591 WO2006063432A1 (fr) 2004-12-13 2005-10-13 Instrument de controle a orientation gyroscopique

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EP1828540A1 EP1828540A1 (fr) 2007-09-05
EP1828540A4 EP1828540A4 (fr) 2011-02-16
EP1828540B1 true EP1828540B1 (fr) 2011-10-26

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US (1) US7730625B2 (fr)
EP (1) EP1828540B1 (fr)
AU (1) AU2005316139B2 (fr)
CA (1) CA2492623C (fr)
WO (1) WO2006063432A1 (fr)

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AU2005316139B2 (en) 2010-05-27
US7730625B2 (en) 2010-06-08
CA2492623A1 (fr) 2006-06-13
EP1828540A1 (fr) 2007-09-05
EP1828540A4 (fr) 2011-02-16
WO2006063432A1 (fr) 2006-06-22
CA2492623C (fr) 2010-03-30
US20090217539A1 (en) 2009-09-03
AU2005316139A1 (en) 2006-06-22

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